No. SX-DSV02472 -
83-
5-2-11 3rd gain switching function
In addition to the normal gain switching function described on 5-2-5, 3rd gain switching function can be set to
increase the gain just before stopping. The higher gain shortens positioning adjusting time.
(1) Applicable Range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the 3rd gain switching function is activated
Control mode
•
It shall be the position control (semi-closed control) or full-closed control
(not-supported).
Others
• Should be in servo-on condition
• Parameters except for controls such as torque limit setup, are correctly set, assuring that the
motor can run smoothly.
(2) Parameters
Class
No.
At-
trib-
ute *1)
Title
Range
Unit
Function
6
05
B
Position 3rd gain
valid time
0–10000
0.1 ms
Set up the time at which 3rd gain becomes valid.
6
06
B
Position 3rd gain
scale factor
50–1000
%
Set up the 3rd gain by a multiplying factor of the 1st gain:
3rd gain = 1st gain
×
Pr 6.06/100
*1) For parameter attribute, refer to Section 9-1.
(3) How to use
While in the condition under which the normal gain switching functions, set the 3rd gain application time to
Pr 6.05 Position 3rd gain enable time, and set the 3rd gain (scale factor with reference to 1st gain) to Pr 6.06
Position 3rd gain magnification ratio.
• If 3rd gain is not used, set Pr 6.05 to 0 and Pr 6.06 to 100.
• The 3rd gain is enabled only for position control or full closed control(Not supported).
• During the 3rd gain period, only position loop gain/velocity loop gain becomes 3rd gain, during other periods,
1st gain setting is used.
• When the 2nd gain switching condition is established during 3rd gain period, 2nd gain is used.
• During transition from 2nd gain to 3rd gain, Pr 1.19 Position gain switching time is applied.
• Even if the gain is changed from 2nd to the 1st due to parameter change, the 3rd gain period is inserted
between them.
2nd gain
Example:
Pr 1.15 Mode of position control switching = 7 switching condition: with positional command:
3rd gain
1st gain
Position velocity command [r/min]
Pr 6.05
×
0.1ms
Pr 1.05–1.09
[3rd gain period]
Position loop gain = Pr1.00
×
Pr6.06/100
Velocity loop gain = Pr1.01
×
Pr6.06/100
Velocity loop integration time constant, velocity detection
filter and torque filter time constant directly use the 1st
gain value.
Pr 1.00–1.04
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
